In this paper, a novel scheme for the design of the actuator fault-tolerant controller based on the fault identification in the linear systems has been presented. Fault identification has been proposed for the fault detection, determination of the faulty actuator (fault isolation) and estimation of the fault uncertain dynamics. For fault detection, a diagnostic observer has been designed for monitoring the condition of the system at every instance and generating the residual signal. After detecting the fault, the fault isolation module composed of a bank of observers has been activated to determine the faulty actuator. After determining the faulty actuator, estimation of the fault uncertain dynamics has been achieved by solving a linear matrix inequality. Then, a fault-tolerant controller has been proposed using the output of the fault identification module. The proposed scheme ensures the boundedness of the signals of the closed-loop system in the presence of the fault and satisfies the tracking objective. Simulation and comparison results were presented for verifying the effectiveness and performance of the proposed approach.